Combining Stereo Imaging, Inertial and Altitude Sensing Systems for the Quad-Rotor

  • Luis Rodolfo García Carrillo
  • Alejandro Enrique Dzul López
  • Rogelio Lozano
  • Claude Pégard
Part of the Advances in Industrial Control book series (AIC)

Abstract

This chapter is devoted to the design and implementation of a stereo-vision, inertial and altitude sensing system for a quad-rotor. The objective is to enable the vehicle to autonomously perform take-off, relative positioning, navigation and landing when evolving in unstructured, indoors, and GPS-denied environments. A real-time comparison study between a Luenberger observer, a Kalman filter and a complementary filter is also addressed, with the purpose of validating the most effective approach for combining the different sensing technologies.

Keywords

Covariance 

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Copyright information

© Springer-Verlag London 2013

Authors and Affiliations

  • Luis Rodolfo García Carrillo
    • 1
  • Alejandro Enrique Dzul López
    • 2
  • Rogelio Lozano
    • 3
  • Claude Pégard
    • 4
  1. 1.HEUDIASYC UMR 6599, Centre de Recherches de RoyalieuUniversité de Technologie de CompiègneCompiègne cedexFrance
  2. 2.División de Estudios de PosgradoInstituto Tecnológico de la LagunaTorreónMexico
  3. 3.UMR-CNRS 6599, Centre de Recherche de RoyalieuUniversité de Technologie de CompiègneCompiègneFrance
  4. 4.Laboratoire MIS EA 4290Université de Picardie Jules VerneAmiensFrance

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